【正文】 很多意想不到的錯誤，讓我們措手不及，有些甚至是一些非常低級的錯誤，但是這些錯誤也同樣讓我們獲益非淺，它使我們意識到，研究是一個非常嚴肅的過程，來不得半點馬虎。 總之， 雖然 在本課題的設(shè)計過程中 遇到了一些問題 ，但是 經(jīng)過老師的指點和自己的思考都一一克服，并且 學(xué)到了不少知識，從中 受益匪淺。 動手能力與自學(xué)能力得到了鍛煉與提高，對待事物的態(tài)度也發(fā)生了變化。 在以后的工作和學(xué)習中我將在不斷學(xué)習理論知識的同時，加強自己的實踐能力，以更好地掌握所學(xué)知識。 本 設(shè)計 從選題的確定 、說明書 的寫作、修改到最后定稿得到了我的 導(dǎo)師 老師 的悉心指導(dǎo)。 他 嚴肅的教學(xué)態(tài)度，嚴謹?shù)闹螌W(xué)精神，精益求精的工作作風深深地感染和激勵著我。 時光匆匆如流 水，轉(zhuǎn)眼便是大學(xué)畢業(yè)時節(jié)。在這里向熱情幫助我的老師、同學(xué)和朋友表示誠摯的謝意！ 理工大學(xué)學(xué)士論文 32 參考文獻 [1] 蘇 琳 . 基于 HC SR04 的超聲波測距器的設(shè)計 .科技信息 . [2] 葛健強 .基于 CPLD 的超聲波測距儀研制 . 無錫商業(yè)職業(yè)技術(shù)學(xué)院學(xué)報 . [3] 何希才 ,薛永毅 .傳感器及其應(yīng)用實例 .機械工業(yè)出版社 , [4] 胡漢才 .單片機原理及其接口技術(shù) .清華大學(xué)出版社 , [5] 吳斌方 ,劉民 ,熊海斌 .超聲波測距傳感器的研制 .湖北工學(xué)院學(xué)報 . [6] 蘇煒，龔壁建，潘笑 .超聲波測距誤差分析 [J].傳感器技術(shù)報 . [7] 秦旭 .用 LM92 溫度傳感器補償?shù)母呔瘸暡y距儀 [J].電子產(chǎn)品世界 .20xx， 6 [8] 郭天祥 . 新概念 51 單片機 C語言教程 .電子工業(yè)出版社出版社， 20xx. [9] 肖婧 . 單片機系統(tǒng)設(shè)計與仿真，北京航空航天大學(xué)出版社， . [10] 鄭鋒 ,王巧芝 ,程麗平 .51 單片機典型應(yīng)用開發(fā)范例大全 .中國鐵道工業(yè)出版社 ,20xx. [11] 潘永雄 .新編單片機原理與應(yīng)用 .西安電子科技大學(xué)出版社， 20xx. [12] 何希才，薛永毅 .傳感器及其應(yīng)用實例 [M].北京：機械工業(yè)出版社， 20xx [13] 張富貴等．果樹外形的檢測方法 [J]．農(nóng)機化研究， [14] QiangLi Zhang， ， . Flatness Considerations on the UltraWideband LowNoise Amplifier Design[J].IEEE Trans， 20xx， 4. [15] 王洪青 等．并行超聲波測距系統(tǒng)在移動機器人上的應(yīng)用 [J]． 傳感器與微系統(tǒng) ， 20xx，9． [16] 仇成群，胡天云．基于超聲波的汽車防撞報警系統(tǒng)的設(shè)計 [J]．傳感技術(shù)學(xué)報， 20xx，4． [17] 金元郁，張海鷹．超聲波自主探路車探測方法的改進 [J]．傳感器與儀器儀表 ,20xx，1． 理工大學(xué)學(xué)士論文 33 附錄 A 英文原文 — From Min Zhou Luo, Yang, Tao Mei robot gripper technology Research and Development Robot gripper Status and Progress With the deepening of robotics research and all aspects of the tremendous growth in demand for robot applications continues to expand, the concept is continually expanding, no longer limited to handling, welding and highvolume operations of industrial robots, humans have developed or being developed for use in hazardous work environments, marine resources exploration, nuclear energy, space exploration in military reconnaissance and special robots. Robot has moved from fiction and science fiction movies material widely used in various fields for the development of intelligent putercontrolled electromechanical device system. Tremendous development in robotics, while one of the key ponents of the robot gripper also has been considerable progress. As the robot interaction with the environment and the implementation of parts of the last session, the robot gripper is both an active work environment perception sensor information, but also is the final actuators, is a highly integrated, with a variety of mechanical and electrical sensing function and intelligent system, involving institutions, bionics, automatic control, sensor technology, puter technology, artificial intelligence, munications technology, microelectronics, materials science and other areas of research and interdisciplinary. Robot gripper is developed from simple to plex, from clumsy developed to dexterity, which humanoid robot hand has been developed to be parable with the manpower, it can hold a flower, holding an egg, grab any one thing , but also to carry out some simple operations. As the importance of the robot gripper, the United States, Germany, Japan, Russia and other powers robotics research successfully developed a variety of general and special robot gripper, gripper flexibility and reliability has been greatly improved, coupled with advanced perceptual system, have a certain autonomy, flexible robot crawls and operating laid a solid foundation. Our robot research began in the 1970s, started late, gripper study is relatively 理工大學(xué)學(xué)士論文 34 backward. From the 1980s to the present, the National 863 Program and the National Natural Science Foundation support, the robot was included studies focus on the development of the theme, the greatly development, gripper study also entered a good period of development. A gripper research Gripper application environment vary widely, crawl, reliable, environmental adaptability, simple control, selfadaptability, autonomy is a measure of the robot gripper design high level of an important symbol. Excellent performance of the robot gripper can achieve reliable, fast and accurate crawl. Research and development of an excellent performance of the robot gripper is a daunting task, including technical realization and theoretical studies two aspects. According to the robot gripper existing research results, bined with the development of the experience and see a lot of relevant literature, Summed up the robot gripper main research contents include the following aspects: Drivers and driveline Robot gripper in size, weight, flexibility and maneuverability, and other performance indicators there is a big difference, the main cause of these differences is due to the drive and the drive gripper used in different ways. Gripper according to the driving source can be divided into electrical, hydraulic, pneumatic, and shape memory alloys, dexterous hand drive capacity of the drive Motion and force students to pass a certain way to the finger joints, so do the corresponding joint motion, moving the design of the drive system are closely related. Although the impact of the driving source is an important factor in paw volume weight, but grab an important indicator of the stability and flexibility depending on transmission, transmission and drive here, according to the way the dexterous hand divided into the following types: Transmission tendon The first category is the tendon (wire, rope, etc.) together with the drive by the pulley or hose, which is characterized by: tendon generally has a high tensile strength and a light weight, easy to achieve multiple degrees of freedom and longdistance power transmission , saving space and cost, is a zerobacklash supple transmission mode. However, the limited stiffness tendon itself, affect the position accuracy。 tendon layout prone coupling torque and motion. These factor